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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Robot.h</span>
<a name="l00003"></a>00003 <span class="comment"> *</span>
<a name="l00004"></a>00004 <span class="comment"> *      Author: Ben, Philippe, Simon en Tom</span>
<a name="l00005"></a>00005 <span class="comment"> */</span>
<a name="l00006"></a>00006 
<a name="l00007"></a>00007 <span class="preprocessor">#ifndef ROBOT_H_</span>
<a name="l00008"></a>00008 <span class="preprocessor"></span><span class="preprocessor">#define ROBOT_H_</span>
<a name="l00009"></a>00009 <span class="preprocessor"></span>
<a name="l00010"></a>00010 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
<a name="l00012"></a>00012 <span class="preprocessor">#include &lt;math.h&gt;</span>
<a name="l00013"></a>00013 <span class="preprocessor">#include &lt;thread&gt;</span>
<a name="l00014"></a>00014 <span class="preprocessor">#include &lt;cmath&gt;</span>
<a name="l00015"></a>00015 <span class="preprocessor">#include &quot;../wifi/package.h&quot;</span>
<a name="l00016"></a>00016 <span class="preprocessor">#include &quot;../wifi/server.h&quot;</span>
<a name="l00017"></a>00017 <span class="preprocessor">#include &quot;../lowlevel/CanBotLL.h&quot;</span>
<a name="l00018"></a>00018 <span class="preprocessor">#include &quot;../lowlevel/Serial.h&quot;</span>
<a name="l00019"></a>00019 <span class="keyword">using namespace </span>std;
<a name="l00020"></a>00020 
<a name="l00021"></a><a class="code" href="structPosition.html">00021</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structPosition.html">Position</a>{
<a name="l00022"></a>00022         <span class="keywordtype">int</span> x;
<a name="l00023"></a>00023         <span class="keywordtype">int</span> y;
<a name="l00024"></a>00024         <span class="keywordtype">float</span> arc;
<a name="l00025"></a>00025 } <a class="code" href="structPosition.html">position</a>;
<a name="l00026"></a>00026 
<a name="l00032"></a><a class="code" href="classRobot.html">00032</a> <span class="keyword">class </span><a class="code" href="classRobot.html" title="Robot is the High Level implementation on CanBot. This class is responsible for the calculation of ro...">Robot</a>{
<a name="l00033"></a>00033 <span class="keyword">public</span>:
<a name="l00034"></a>00034         <a class="code" href="classRobot.html" title="Robot is the High Level implementation on CanBot. This class is responsible for the calculation of ro...">Robot</a>();
<a name="l00035"></a>00035         <a class="code" href="classRobot.html" title="Robot is the High Level implementation on CanBot. This class is responsible for the calculation of ro...">Robot</a>(<span class="keywordtype">int</span> tol_arc, <span class="keywordtype">int</span> tol_distance);
<a name="l00036"></a>00036         
<a name="l00042"></a>00042         <span class="keywordtype">void</span> UpdateRobot(<a class="code" href="structPackage.html" title="Struct met het volledige UDP pakket.">Package</a> data);         <span class="comment">//meegeven struct van het netwerk team</span>
<a name="l00043"></a>00043         
<a name="l00049"></a>00049         <span class="keywordtype">void</span> UpdateTarget(<a class="code" href="structPackage.html" title="Struct met het volledige UDP pakket.">Package</a> data);                <span class="comment">//meegeven struct van het netwerk team</span>
<a name="l00050"></a>00050         
<a name="l00054"></a>00054         <span class="keywordtype">int</span> CalcTurn();         <span class="comment">//High level strategie</span>
<a name="l00055"></a>00055         
<a name="l00060"></a>00060         <span class="keywordtype">void</span> Turn(<span class="keywordtype">int</span> arc,<a class="code" href="classCanBotLL.html" title="CanBotLL is the Low Level implementation on CanBot. This class is responsible for the serial communic...">CanBotLL</a> *c);         <span class="comment">//Low level strategie</span>
<a name="l00061"></a>00061         
<a name="l00065"></a>00065         <span class="keywordtype">int</span> CalcDistance();     <span class="comment">//High level strategie</span>
<a name="l00066"></a>00066         
<a name="l00071"></a>00071         <span class="keywordtype">void</span> Drive(<span class="keywordtype">int</span> distance,<a class="code" href="classCanBotLL.html" title="CanBotLL is the Low Level implementation on CanBot. This class is responsible for the serial communic...">CanBotLL</a> *c);   <span class="comment">//Low level strategie</span>
<a name="l00072"></a>00072         
<a name="l00076"></a>00076         <span class="comment">//~Robot();</span>
<a name="l00077"></a>00077         
<a name="l00078"></a>00078 <span class="keyword">private</span>:
<a name="l00079"></a>00079         <a class="code" href="structPosition.html">Position</a> me;
<a name="l00080"></a>00080         <a class="code" href="structPosition.html">Position</a> target;
<a name="l00081"></a>00081         <span class="keywordtype">int</span> tolerance_arc;
<a name="l00082"></a>00082         <span class="keywordtype">int</span> tolerance_distance;
<a name="l00083"></a>00083         <span class="keywordtype">bool</span> cargo;
<a name="l00084"></a>00084 };
<a name="l00085"></a>00085 
<a name="l00086"></a>00086 
<a name="l00087"></a>00087 <span class="preprocessor">#endif </span><span class="comment">/* ROBOT_H_ */</span>
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